diff --git a/examples/acados_python/pendulum_on_cart/ocp/ocp_example_cost_formulations.py b/examples/acados_python/pendulum_on_cart/ocp/ocp_example_cost_formulations.py
index a6c57356e1..786f32649a 100644
--- a/examples/acados_python/pendulum_on_cart/ocp/ocp_example_cost_formulations.py
+++ b/examples/acados_python/pendulum_on_cart/ocp/ocp_example_cost_formulations.py
@@ -255,6 +255,11 @@ def main(cost_version: str, formulation_type='ocp', integrator_type='IRK', plot=
             ocp_solver.cost_set(i, "ext_cost_num_hess", np.diag([0.02, 2000, 2000, 0.02, 0.02, ]))
         ocp_solver.cost_set(N, "ext_cost_num_hess", np.diag([2000, 2000, 0.02, 0.02, ]))
 
+    # test set cost scaling
+    if formulation_type == 'ocp':
+        for i in range(N):
+            ocp_solver.cost_set(i, "scaling", ocp.solver_options.time_steps[i])
+
     simX = np.zeros((N+1, NX))
     simU = np.zeros((N, NU))
 
diff --git a/interfaces/acados_c/ocp_nlp_interface.c b/interfaces/acados_c/ocp_nlp_interface.c
index be93405ff8..4174444dde 100644
--- a/interfaces/acados_c/ocp_nlp_interface.c
+++ b/interfaces/acados_c/ocp_nlp_interface.c
@@ -913,6 +913,10 @@ void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims,
         dims_out[0] = dims->nx[stage] + dims->nu[stage];
         dims_out[1] = dims->nx[stage] + dims->nu[stage];
     }
+    else if (!strcmp(field, "scaling"))
+    {
+        dims_out[0] = 1;
+    }
     else
     {
         printf("\nerror: ocp_nlp_cost_dims_get_from_attr: field %s not available\n", field);
diff --git a/interfaces/acados_template/acados_template/acados_ocp_solver.py b/interfaces/acados_template/acados_template/acados_ocp_solver.py
index 16ca7cd6cb..b357fa75dc 100644
--- a/interfaces/acados_template/acados_template/acados_ocp_solver.py
+++ b/interfaces/acados_template/acados_template/acados_ocp_solver.py
@@ -1269,8 +1269,11 @@ def cost_set(self, stage_: int, field_: str, value_, api='warn'):
         Set numerical data in the cost module of the solver.
 
             :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu'
+            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu', 'scaling'
             :param value: of appropriate size
+
+        Note: by default the cost is scaled with the time step, and the terminal cost term scaled with 1.
+        This can be overwritten by setting the 'scaling' field.
         """
         # cast value_ to avoid conversion issues
         if isinstance(value_, (float, int)):
diff --git a/interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx b/interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx
index d075d3d0e5..d2284c33f4 100644
--- a/interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx
+++ b/interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx
@@ -592,7 +592,7 @@ cdef class AcadosOcpSolverCython:
         Set numerical data in the cost module of the solver.
 
             :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
+            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'scaling'
             :param value: of appropriate size
         """
         if not isinstance(value_, np.ndarray):